2019-09-15T09:38:05ZSquare root central difference-based FastSLAM approach improved by differential evolutionhttp://hdl.handle.net/11727/3911
Square root central difference-based FastSLAM approach improved by differential evolution
Ankishan, Haydar; Ari, Fikret; Tartan, Emre Oner; Pakfiliz, Ahmet Gungor
This study presents a new approach to improve the performance of FastSLAM. The aim of the study is to obtain a more robust algorithm for FastSLAM applications by using a Kalman filter that uses Stirling's polynomial interpolation formula. In this paper, some new improvements have been proposed; the first approach is the square root central difference Kalman filter-based FastSLAM, called SRCD-FastSLAM. In this method, autonomous vehicle (or robot) position, landmarks' position estimations, and importance weight calculations of the particle filter are provided by the SRCD-Kalman filter. The second approach is an improved version of the SRCD-FastSLAM in which particles are improved by a differential evolution (DE) algorithm for reducing the risk of the particle depletion problem. Simulation results are given as a comparison of FastSLAM II, unscented (U)-FastSLAM, SRCD-Kalman filter-aided FastSLAM, SRCD particle filter-based FastSLAM, SRCD-FastSLAM, and DE-SRCD-FastSLAM. The results show that SRCD-based FastSLAM approaches accurately compute mean and precise uncertainty of the robot position in comparison with FastSLAM II and U-FastSLAM methods. However, the best results are obtained by DE-SRCD-FastSLAM, which provides significantly more accurate and robust estimation with the help of DE with fewer particles. Moreover, consistency of the DE-SRCD-FastSLAM is more prolonged than that of FastSLAM II, U-FastSLAM, and SRCD-FastSLAM.
2016-01-01T00:00:00ZEffect of 0.05% topical cyclosporine for the treatment of symptomatic subepithelial infiltrates due to adenoviral keratoconjunctivitishttp://hdl.handle.net/11727/3910
Effect of 0.05% topical cyclosporine for the treatment of symptomatic subepithelial infiltrates due to adenoviral keratoconjunctivitis
Muftuoglu, Ilkay Kilic; Akova, Yonca A.; Gungor, Sire G.
2016-01-01T00:00:00ZContinuous positive airway pressure therapy is associated with improvement in overactive bladder symptoms in women with obstructive sleep apnea syndromehttp://hdl.handle.net/11727/3909
Continuous positive airway pressure therapy is associated with improvement in overactive bladder symptoms in women with obstructive sleep apnea syndrome
Ipekci, Tumay; Cetintas, Gulgun; Celik, Orcun; Ekin, Rahmi Gokhan; Sarac, Sema; Tunckiran, Ahmet; Ilbey, Yusuf Ozlem
Introduction To evaluate the impact of continuous positive airway pressure (CPAP) therapy on overactive bladder (OAB) symptoms in women with obstructive sleep apnea syndrome (OSAS).
Material and methods One-hundred and fifty women underwent an overnight polysomnography study between May 2014 and September 2014. Their voiding symptoms were evaluated using the OAB symptom score (OABSS) and International Consultation on Incontinence Questionnaire Short-Form at OSAS diagnosis and approximately 3-months after CPAP therapy. OSAS severity was assessed according to the apnea-hypopnea-index.
Results We evaluated 140 women and 111 of them (79.3%) reported symptoms consistent with OAB. There were no statistically significant differences between OSAS severity with a prevalence of OAB (p = 0.92). The prevalence of urinary incontinence (UI) was 35.7% (n = 50) and 39.6% (n = 44) in all patients and patients with OAB, respectively. There were no statistically significant differences between UI with OAB (p = 0.58). Baseline OABSS is comparable between OSAS severity (p = 0.143). After 3-months CPAP therapy, OABSS and ICIQ-SF sum scores were significantly decreased in patients with severe and moderate OSAS (p < 0.01), however, change of OABSS sum score was insignificant in patients with mild OSAS (p = 0.44).
Conclusions CPAP therapy improves the OAB, OABSS and ICIQ-SF scores in women with severe and moderate OSAS. OSAS-induced OAB may be alleviated following CPAP therapy.
2016-01-01T00:00:00ZLactobacillus rhamnosus could inhibit Porphyromonas gingivalis derived CXCL8 attenuationhttp://hdl.handle.net/11727/3908
Lactobacillus rhamnosus could inhibit Porphyromonas gingivalis derived CXCL8 attenuation
Mendi, Aysegul; Kose, Sevil; Uckan, Duygu; Akca, Gulcin; Yilmaz, Dervis; Aral, Levent; Gultekin, Sibel Elif; Eroglu, Tamer; Kilic, Emine; Uckan, Sina
An increasing body of evidence suggests that the use of probiotic bacteria is a promising intervention approach for the treatment of inflammatory diseases with a polymicrobial etiology. P. gingivalis has been noted to have a different way of interacting with the innate immune response of the host compared to other pathogenic bacteria, which is a recognized feature that inhibits CXCL8 expression. Objective The aim of the study was to determine if P. gingivalis infection modulates the inflammatory response of gingival stromal stem cells (G-MSSCs), including the release of CXCL8, and the expression of TLRs and if immunomodulatory L. rhamnosus ATCC9595 could prevent CXCL8 inhibition in experimental inflammation. Material and Methods G-MSSCs were pretreated with L. rhamnosus ATCC9595 and then stimulated with P. gingivalis ATCC33277. CXCL8 and IL-10 levels were investigated with ELISA and the TLR-4 and 2 were determined through flow cytometer analysis. Results CXCL8 was suppressed by P. gingivalis and L. rhamnosus ATCC9595, whereas incubation with both strains did not abolish CXCL8. L. rhamnosus ATCC9595 scaled down the expression of TLR4 and induced TLR2 expression when exposed to P. gingivalis stimulation (p<0.01). Conclusions These findings provide evidence that L. rhamnosus ATCC9595 can modulate the inflammatory signals and could introduce P. gingivalis to immune systems by inducing CXCL8 secretion.
2016-01-01T00:00:00Z